version: 66.04
glider: 103
mission: 11
dive: 99
start: 3 15 109 10 26 52
data:
$ID,103
$MISSION,11
$DIVE,99
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,200
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,55
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,225
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-144975.45
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,55
$PITCH_MAX,3362
$C_PITCH,2440
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,229
$ROLL_MAX,3788
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,9
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,572
$VBD_MAX,3921
$C_VBD,2902
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-12.802039
$PRESSURE_SLOPE,0.0001162
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043321555
$SEABIRD_T_H,0.00063294952
$SEABIRD_T_I,2.4435583e-05
$SEABIRD_T_J,2.6458358e-06
$SEABIRD_C_G,-10.239935
$SEABIRD_C_H,1.1471217
$SEABIRD_C_I,-0.0012735804
$SEABIRD_C_J,0.00018857721
$GPS1,101436,6229.849,-1114.734,57,1.4,57,-10.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-56.5
$GPS2,102602,6229.884,-1114.534,35,1.5,35,-10.8
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.212,-0.054
$KALMAN_X,66044.3,-2247.3,-1859.7,-140186.5,10888.4
$KALMAN_Y,-1999.6,-2213.4,1263.0,60557.9,8649.5
$MHEAD_RNG_PITCHd_Wd,266.4,21778,-11.1,-6.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.10,-146.6,0.0,0.0,0,62,0.00,0.00,-41.67,0.000,2,0.000,0.000,48,2645,3188
$GC,65,-1.10,-146.6,4.1,-12.5,2,89,12.23,2.75,-5.07,0.000,4,0.161,0.090,2193,1233,3502
$GC,203,-1.10,-146.6,25.4,-10.5,8,207,0.00,2.65,0.00,0.000,6,0.000,0.065,2193,2656,3502
$GC,530,-1.10,-146.6,55.2,-9.1,24,531,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2656,3501
$GC,839,-1.10,-146.6,76.6,-6.4,39,843,0.00,2.17,0.00,0.000,4,0.000,0.091,2193,3785,3501
$GC,912,-1.10,-146.6,82.3,-8.0,42,915,0.00,2.08,0.00,0.000,6,0.000,0.058,2193,2650,3501
$GC,1239,-1.10,-146.6,110.1,-8.4,58,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3501
$GC,1548,-1.10,-146.6,135.4,-7.6,73,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3501
$GC,1857,-1.10,-146.6,161.3,-8.4,88,1858,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3501
$GC,2166,-1.10,-146.6,187.6,-8.2,103,2170,0.00,2.20,0.00,0.000,4,0.000,0.087,2193,3789,3501
$GC,2206,-1.10,-146.6,191.1,-9.0,104,2212,0.00,2.08,0.00,0.000,6,0.000,0.059,2193,2652,3501
$GC,2521,-1.10,-146.6,217.3,-8.5,120,2523,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2653,3501
$GC,2831,-1.10,-146.6,245.8,-9.3,135,2834,0.00,2.20,0.00,0.000,4,0.000,0.088,2193,3787,3501
$GC,2870,-1.10,-146.6,249.6,-9.8,136,2880,0.00,2.10,0.00,0.000,6,0.000,0.061,2193,2641,3501
$GC,3187,-1.10,-146.6,276.5,-8.0,152,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2641,3501
$GC,3496,-1.10,-146.6,301.3,-8.1,167,3499,0.00,2.22,0.00,0.000,4,0.000,0.088,2193,3789,3502
$GC,3524,-1.10,-146.6,303.6,-7.2,168,3527,0.00,2.10,0.00,0.000,6,0.000,0.061,2193,2642,3502
$GC,3851,-1.10,-146.6,326.7,-7.3,184,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2642,3502
$GC,4160,-1.10,-146.6,347.9,-6.9,199,4164,0.00,2.20,0.00,0.000,4,0.000,0.085,2193,3786,3502
$GC,4199,-1.10,-146.6,350.9,-8.0,200,4206,0.00,2.05,0.00,0.000,6,0.000,0.058,2193,2637,3502
$GC,4518,-1.10,-146.6,375.1,-7.9,216,4519,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2637,3502
$GC,4825,-1.10,-146.6,396.8,-6.4,231,4829,0.00,2.22,0.00,0.000,4,0.000,0.087,2193,3793,3502
$GC,4871,-1.10,-146.6,399.9,-7.2,233,4876,0.00,2.08,0.00,0.000,6,0.000,0.059,2193,2653,3502
$GC,5203,-1.10,-146.6,424.2,-7.7,249,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2653,3502
$GC,5512,-1.10,-146.6,450.0,-8.9,264,5514,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2653,3502
$GC,5823,-1.10,-146.6,476.0,-7.8,279,5827,0.00,2.17,0.00,0.000,4,0.000,0.084,2193,3787,3502
$GC,5879,-1.10,-146.6,480.8,-8.6,281,5882,0.00,2.08,0.00,0.000,6,0.000,0.058,2193,2643,3502
$GC,6201,-1.10,-146.6,501.0,-5.3,297,6202,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3502
$GC,6510,-1.10,-146.6,515.3,-3.8,312,6511,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3502
$GC,6819,-1.10,-146.6,529.7,-5.4,327,6820,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3502
$GC,7128,-1.10,-146.6,558.8,-11.4,342,7131,0.00,2.22,0.00,0.000,4,0.000,0.087,2193,3793,3502
$GC,7174,-1.10,-146.6,564.6,-13.2,344,7177,0.00,2.08,0.00,0.000,6,0.000,0.057,2193,2648,3502
$GC,7506,-1.10,-146.6,612.3,-14.9,360,7508,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3502
$GC,7818,-1.10,-146.6,651.8,-11.3,375,7822,0.00,2.20,0.00,0.000,4,0.000,0.088,2193,3789,3502
$GC,7886,-1.10,-146.6,659.3,-10.7,378,7890,0.00,2.05,0.00,0.000,6,0.000,0.056,2193,2652,3502
$GC,8219,-1.10,-146.6,687.4,-7.0,394,8223,0.00,2.60,0.00,0.000,4,0.000,0.071,2193,1234,3501
$GC,8259,-1.10,-146.6,690.0,-7.3,396,8264,0.00,2.62,0.00,0.000,6,0.000,0.064,2194,2660,3501
$GC,8586,-1.10,-146.6,710.4,-7.1,412,8589,0.00,2.17,0.00,0.000,4,0.000,0.096,2193,3785,3500
$GC,8647,-1.10,-146.6,715.4,-7.6,414,8653,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2642,3500
$GC,8963,-1.10,-146.6,735.8,-6.4,430,8967,0.00,2.22,0.00,0.000,4,0.000,0.095,2194,3789,3499
$GC,8987,-1.10,-146.6,737.3,-6.2,431,8990,0.00,2.08,0.00,0.000,6,0.000,0.059,2193,2646,3499
$STATE,9194,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9194,begin apogee
$GC,9202,-0.42,0.0,752.2,7.2,441,9331,0.77,0.00,125.25,1.189,6,0.100,0.000,2346,1995,2902
$STATE,9331,end apogee,CONTROL_FINISHED_OK
$STATE,9331,begin climb
$GC,9334,1.10,146.6,756.5,0.0,447,9467,1.58,2.75,123.50,1.155,4,0.061,0.074,2679,590,2304
$GC,9720,1.10,146.6,751.4,6.4,464,9726,0.00,2.53,0.00,0.000,6,0.000,0.040,2679,2016,2303
$GC,10036,1.14,179.2,736.2,5.1,480,10071,0.00,2.80,28.75,1.137,4,0.000,0.069,2679,587,2171
$GC,10268,1.20,222.5,723.9,4.8,490,10313,0.00,2.53,37.88,1.142,6,0.000,0.041,2679,2009,1994
$GC,10633,1.20,227.4,703.1,5.9,508,10645,0.10,2.65,5.93,0.917,4,0.050,0.070,2717,3412,1974
$GC,10713,1.20,227.4,697.1,7.5,511,10719,0.00,2.60,0.00,0.000,6,0.000,0.051,2717,1984,1974
$GC,11028,1.20,227.4,676.7,6.4,527,11033,0.00,2.67,0.00,0.000,4,0.000,0.068,2717,3410,1973
$GC,11068,1.20,227.4,674.2,6.7,529,11073,0.00,2.55,0.00,0.000,6,0.000,0.049,2717,1998,1973
$GC,11395,1.21,231.5,654.4,5.9,545,11405,0.00,2.65,4.68,0.838,4,0.000,0.069,2717,586,1958
$GC,11489,1.21,231.5,648.5,6.1,549,11494,0.00,2.50,0.00,0.000,6,0.000,0.039,2717,2004,1958
$GC,11805,1.24,260.4,632.5,5.2,564,11836,0.00,2.67,25.62,1.118,4,0.000,0.070,2717,3403,1840
$GC,11911,1.24,260.4,626.1,6.4,569,11915,0.00,2.55,0.00,0.000,6,0.000,0.050,2717,1998,1840
$GC,12237,1.29,295.2,605.2,5.0,585,12277,0.00,2.72,30.45,1.105,4,0.000,0.067,2717,594,1698
$GC,12301,1.30,308.5,601.8,5.6,588,12323,0.00,2.53,12.85,1.034,6,0.000,0.041,2717,2006,1644
$GC,12632,1.30,308.5,579.1,8.1,604,12637,0.00,2.62,0.00,0.000,4,0.000,0.070,2717,3413,1644
$GC,12699,1.30,308.5,573.2,8.5,607,12704,0.00,2.58,0.00,0.000,6,0.000,0.052,2717,1998,1644
$GC,13021,1.30,308.5,545.7,8.9,623,13025,0.00,2.65,0.00,0.000,4,0.000,0.069,2717,3409,1643
$GC,13050,1.30,308.5,543.0,8.9,624,13054,0.00,2.55,0.00,0.000,6,0.000,0.050,2717,1999,1643
$GC,13365,1.30,308.5,514.1,9.0,639,13366,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1999,1644
$GC,13675,1.30,308.5,484.5,9.8,654,13679,0.00,2.65,0.00,0.000,4,0.000,0.068,2717,3416,1644
$GC,13702,1.30,308.5,481.6,10.2,655,13706,0.00,2.58,0.00,0.000,6,0.000,0.051,2717,1992,1644
$GC,14018,1.30,308.5,450.5,9.1,670,14022,0.00,2.65,0.00,0.000,4,0.000,0.067,2717,3410,1644
$GC,14085,1.30,308.5,444.6,9.3,673,14089,0.00,2.58,0.00,0.000,6,0.000,0.052,2717,1990,1645
$GC,14405,1.30,308.5,421.2,7.1,689,14410,0.00,2.65,0.00,0.000,4,0.000,0.067,2717,3410,1644
$GC,14433,1.30,308.5,418.9,7.9,690,14437,0.00,2.58,0.00,0.000,6,0.000,0.052,2717,1990,1645
$GC,14749,1.30,308.5,393.2,8.8,705,14753,0.00,2.65,0.00,0.000,4,0.000,0.067,2717,3412,1645
$GC,14776,1.30,308.5,390.4,9.3,706,14781,0.00,2.58,0.00,0.000,6,0.000,0.053,2717,1993,1645
$GC,15092,1.30,308.5,360.1,9.8,721,15097,0.00,2.62,0.00,0.000,4,0.000,0.068,2717,3410,1645
$GC,15120,1.30,308.5,357.1,10.6,722,15125,0.00,2.58,0.00,0.000,6,0.000,0.053,2718,1990,1645
$GC,15436,1.30,308.5,327.6,9.0,737,15441,0.00,2.65,0.00,0.000,4,0.000,0.068,2717,3413,1646
$GC,15458,1.30,308.5,325.4,9.1,738,15462,0.00,2.58,0.00,0.000,6,0.000,0.054,2717,1995,1646
$GC,15779,1.30,308.5,299.2,7.8,754,15780,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1995,1646
$GC,16088,1.30,308.5,276.9,7.0,769,16092,0.00,2.65,0.00,0.000,4,0.000,0.070,2717,3416,1647
$GC,16128,1.30,308.5,274.1,7.0,771,16132,0.00,2.58,0.00,0.000,6,0.000,0.056,2717,2002,1647
$GC,16454,1.30,308.5,251.4,7.1,787,16459,0.00,2.62,0.00,0.000,4,0.000,0.070,2717,3406,1646
$GC,16476,1.30,308.5,249.8,6.7,788,16481,0.00,2.58,0.00,0.000,6,0.000,0.056,2717,1993,1647
$GC,16798,1.30,308.5,223.5,8.8,804,16799,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1993,1647
$GC,17107,1.30,308.5,196.1,9.0,819,17112,0.00,2.65,0.00,0.000,4,0.000,0.070,2717,3412,1648
$GC,17135,1.30,308.5,193.5,7.8,820,17139,0.00,2.58,0.00,0.000,6,0.000,0.057,2717,1998,1647
$GC,17451,1.30,308.5,164.3,9.7,835,17452,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1998,1648
$GC,17762,1.30,308.5,135.7,8.5,850,17766,0.00,2.65,0.00,0.000,4,0.000,0.070,2717,3417,1648
$GC,17826,1.30,308.5,129.7,9.0,853,17831,0.00,2.60,0.00,0.000,6,0.000,0.059,2717,1997,1648
$GC,18155,1.30,308.5,97.2,9.7,869,18156,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1997,1648
$GC,18462,1.30,308.5,69.1,11.3,884,18467,0.00,2.62,0.00,0.000,4,0.000,0.074,2717,586,1648
$GC,18512,1.30,308.5,63.3,11.1,886,18517,0.00,2.50,0.00,0.000,6,0.000,0.041,2717,2009,1648
$GC,18828,1.30,308.5,33.2,9.0,901,18833,0.00,2.60,0.00,0.000,4,0.000,0.071,2717,3412,1649
$GC,18856,1.30,308.5,31.3,8.0,902,18861,0.00,2.58,0.00,0.000,6,0.000,0.057,2717,1998,1649
$GC,19173,1.32,321.5,8.0,5.6,917,19194,0.00,2.67,12.93,0.664,4,0.000,0.069,2717,588,1591
$GC,19219,1.32,321.5,3.8,9.2,919,19223,0.00,2.50,0.00,0.000,6,0.000,0.039,2717,1996,1590
$STATE,19233,end climb,SURFACE_DEPTH_REACHED
$STATE,19233,begin surface coast
$FINISH,0.6,1.027514
$STATE,19255,end surface coast,CONTROL_FINISHED_OK
$STATE,19255,begin surface
$SM_CCo,19340,0.00,0.000,0,0,1589,322.08
$SM_GC,1.28,11.77,0.00,0.00,0.027,0.000,0.000,44,2658,1589,-10.94,0.23,322.08
$IRIDIUM_FIX,6207.28,-1115.85,090698,101032
$TT8_MAMPS,0.028379
$HUMID,1777
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,16.60
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,676.7,85.1
$24V_AH,23.3,23.661
$10V_AH,10.1,12.474
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.450,175.050,407.825,0.000,0.000,52.803,59.582,354.831,7.750,0.000,0.000,35.618,1700.080,14909.073,512.774,2073.879,822.494,33.376,1568.553,0.000,2010.268,0.000,40.289,0.000
$DEVICE_MAMPS,161.070,95.875,1188.850,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,665.264,661.748,532.306,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47526,921
$CAP_FILE_SIZE,144462,0
$CFSIZE,260165632,251527168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150309,155036,6228.820,-1113.502,40,0.8,46,-10.8